TY - GEN
T1 - Dynamic Reconfiguration Manipulability analyses of humanoid bipedal walking
AU - Kobayashi, Yosuke
AU - Minami, Mamoru
AU - Yanou, Akira
AU - Maeba, Tomohide
PY - 2013/11/14
Y1 - 2013/11/14
N2 - In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability Ellipsoid (DME) describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability Ellipsoid (RME) denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined dynamic manipulability and reconfiguration manipulability, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.
AB - In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability Ellipsoid (DME) describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability Ellipsoid (RME) denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined dynamic manipulability and reconfiguration manipulability, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.
UR - http://www.scopus.com/inward/record.url?scp=84887289896&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2013.6631258
DO - 10.1109/ICRA.2013.6631258
M3 - Conference contribution
AN - SCOPUS:84887289896
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4779
EP - 4784
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -